Yaskawa SMC–4000 - Manual (Page 369)

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SMC–4000 User Manual
The following is the special label to handle input interrupts. Inputs 1 - 8 can be used as interrupts. this
example uses the input to tell the LEGEND that the system is under an E-STOP condition. This input
may come from a contact that also removes power from the amplifiers. Notice that the interrupt
command II is used at the beginning of the program to designate input #3 as an interrupt. When this input
goes low, thread zero automatically jumps to #ININT if it is included in the program. Notice that if the
example assumes that if an E-STOP occurs, the current operation has been scrapped. The ZS (Zero
Subroutine Stack) command is used which allows the program to jump anywhere. Usually it is easiest to
jump back to a main loop which handles the different modes of operation of the machine. Also note that
if ZS is used, the interrupt must be enabled for next time.
Instruction Interpretation
#ININT
AB1; HX1; HX2; HX3
SB3
MG “ESTOPPED”
AI-3; AI3 (Wait for e-stop input to go high
(re-enabled))
CB3
MG “RE-ENABLED..”
SHX
WT2000
ZS
II3 (Re-enable input interrupt for next
time)
#JP BUSY
EN